Bending / folding issue?
adding to @moonboots Comment: In edit mode, select vertex, vertices, or part of the &quot;bar&quot; you want to be the Pivot point (internal cylinder), and then RMB: Snap vertices: Cursor To Selected.

Then in Object Mode: RMB: Set Origin: Origin to 3D Cursor.  Then your pivot point will be correct

I then did the same for your &quot;Plane.014&quot; connection point internal cylinder.
I then aligned the bar (origin) to the Plane.014 origin:

And then the rotation of the bar was as desired:

Here is the result:  
Also consider setting the Pivot Point to Individual Origins when doing these adjustments, as the 3D Cursor may not be where you want (usually located at 0,0,0):